Method, machine control and computer-program product for determining a path for autonavigation

A method for determining at least part of a path for connecting at least one starting point to at least one finishing point in a space for at least one autonavigation of at least one movable component through the space on a machine, which is an injection molding machine for processing plastics and other plasticizable materials or a 3D printing machine, configured for at least one of removing or transferring or depositing a molding, comprising the steps of:

• a) providing at least one model of the at least one movable component and the machine and the molding,
• b) gathering geometry information of the space and the at least one movable component and the machine and the molding,
• c) determining a current position of the at least one movable component and the machine and the molding in the space,
• d) bringing the geometry information and the current position of the at least one movable component and of the machine and of the molding in the space into relation with one another to generate at least one graph of the space,
• e) calculating the path by applying at least one algorithm to the graph, wherein at least one optimization is additionally carried out for calculating the path,
• f) performing at least one collision check along the path between
• 1. the at least one movable component,
• 2. the machine and
• 3. the molding,
• g) autonavigating in collision-free manner the at least one movable component along the path,
• wherein the at least one movable component moves relative to the machine and the algorithm is applied while dynamically changing the graph as a result of movements of at least one of the at least one movable component or the machine or the molding,
• wherein the method is simulated in real time in the event of a change in the production sequence and the algorithm reacts to at least one of changed positions or changed speeds of at least one of the at least one movable component or the machine or the molding by carrying out at least one further collision check and by calculating at least one new path and applying the algorithm again, using a current actual position as the starting point,
• wherein the calculation, collision check and autonavigation are performed predictively.